A substation inspection indoor position calculation method fusing two-dimensional code recognition and an inertial system

Abstract

The invention discloses a substation inspection indoor position calculation method fusing two-dimensional code recognition and an inertial system, and belongs to the field of calculation. A characteristic two-dimensional code label is arranged on the switch cabinet, and characteristic two-dimensional code label information in a visual field is collected by using a camera device; the current coordinate position and posture of the movable robot are comprehensively obtained by depending on feature two-dimensional code label information in the view field of the camera device and inertial data of an inertial system of the camera device, so that the problem of accurate positioning of the absolute position of the robot in the transformer substation is solved. Position correction and inertial data fusion are carried out by means of the characteristic two-dimensional code label arranged on the switch cabinet, multiple positioning modes are comprehensively used according to different positioning information in the environment, flexible transition and complementary error correction are carried out between the different positioning modes, and the anti-interference capability is extremely high. The invention can be widely applied to the field of design and manufacturing of indoor movable robots of transformer substations.

Description

technical field [0001] The invention belongs to the field of computing, and in particular relates to an indoor position estimation method for a substation inspection robot. Background technique [0002] With the development of the country's economy, the demand for electricity is increasing, and the power supply company's upgrading and transformation of substations are also deepening. The purpose is to strengthen the inspection and management of the equipment operation status of the substation, and improve the inspection effect and other aspects. [0003] In recent years, a series of mobile robot platforms have been developed at home and abroad, which are used for inspection and inspection inside the substation (referred to as indoors). Rope type. With the research and development of the mobile robot platform, how to accurately determine the position of the robot in the room has become a key node in the development process of the mobile robot platform. [0004] Satellite po...

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Problems solved by technology

[0007] At present, this technology has accumulated a certain amount of technology, but it has extremely high requirements for artificial intelligence technology, requires a relatively complicated and long-term training process, and its stability is relatively poor. There is still a long way to go in terms of translation, virtual interaction, and environment construction.

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